REPYZ

3D Printable modules for building modular robots

Introduction

REPYZ modules are an evolution of the REPY modules. The new fetures are:

• Simplified structure. The body is smaller than in previous versions, thanks to the new sevo lower cover, with a fake shaft

• More robust and compact

• It is simmetric (like REPY v2). The caterpillar robots can move face up or face down

• PRO Version. There are two flavors of repyz modules: standar and PRO. The later includes a 608 bearing on the fake shaft for making the rotation very smooth and with no clearance.

More information can be found on this link (in Spanish):

http://www.iearobotics.com/wiki/index.php?title=M%C3%B3dulos_REPYZ

Pictures

https://plus.google.com/u/0/photos/109138697406392447933/albums/5878857037837654529

Video

An example of the locomotion of a pith-pitch minimal configuration, composed of two repyz modules (standar version). Video presented by my little daughter Alicia :-)

http://www.youtube.com/watch?v=hIY0V6fK7iY

Bill of materials

• The 3 printed parts: body, head and servo lower cover (There are two differents heads, one for the standard and the other for the PRO)

• Servo Futaba 3003

• 1 M8 washer

• 1 608 bearing (optional, only for the pro version)

• 4 M3 nuts

• 4 M3x10mm bolts

• 2 M2x12mm bolts (provided with the servo)

Instructions

Assembly process:

https://plus.google.com/u/0/photos/109138697406392447933/albums/5884847018420290209

Electronics

For moving the module all types of electronics can be used. The only requirement is the generation of a PWM signal.

Examples of electronics:

• Arduino
• Skymega board: http://www.thingiverse.com/thing:14197 -This is the board I am using because it fits perfectly on the REPYZ module

Software

For generating the locomotion of snake robots, I am using sinusoidal generators. More information can be found on my phd dissertation:

http://www.iearobotics.com/wiki/index.php?title=Juan_Gonzalez:PhD_Thesis

I have implemented the ardusnake library (for arduino and arudino compatible boards). It is very simple to use and understand:

https://github.com/Obijuan/ArduSnake

http://www.thingiverse.com/thing:21401

Links to other modules

• Y1 modules: http://www.iearobotics.com/wiki/index.php?title=M%C3%B3dulos_Y1
• MY1 modules: http://www.iearobotics.com/wiki/index.php?title=M%C3%B3dulos_MY
• REPY v1: http://www.thingiverse.com/thing:688
• REPY v1.1: http://www.thingiverse.com/thing:13442
• REPY v2: http://www.dsquaredrobotics.com/wiki/index.php?title=REPY-2.0

Author

• Juan Gonzalez-Gomez (Obijuan)

Credits

• David Estevez: Is the author of the Repy modules v2. Repyz were inspired in Repy v2: http://www.dsquaredrobotics.com/wiki/index.php?title=REPY-2.0

• Andres Prieto-Moreno. Is the author of the MY1 modules, in which the repyz are also inspired. He also suggested me the idea of including a lower servo cover with ears for the servos. Because of these ears, the body of the module has been dramatically simplified.

• Gocha is the cat of Carlos Garcia Saura. It is the one that appears on the REPYZ logo

License

REPYZ modules are released under the GPL license